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wrap ImuFactor2

release/4.3a0
Varun Agrawal 2024-12-22 18:17:09 -05:00
parent 1a96544308
commit afc6868ca3
1 changed files with 16 additions and 0 deletions
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16
gtsam/navigation/navigation.i
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@ -156,6 +156,22 @@ virtual class ImuFactor: gtsam::NonlinearFactor {
void serialize() const; void serialize() const;
}; };
virtual class ImuFactor2: gtsam::NonlinearFactor {
ImuFactor2();
ImuFactor2(size_t state_i, size_t state_j,
size_t bias,
const gtsam::PreintegratedImuMeasurements& preintegratedMeasurements);
// Standard Interface
gtsam::PreintegratedImuMeasurements preintegratedMeasurements() const;
gtsam::Vector evaluateError(const gtsam::NavState& state_i,
gtsam::NavState& state_j,
const gtsam::imuBias::ConstantBias& bias_i);
// enable serialization functionality
void serialize() const;
};
#include <gtsam/navigation/CombinedImuFactor.h> #include <gtsam/navigation/CombinedImuFactor.h>
virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams { virtual class PreintegrationCombinedParams : gtsam::PreintegrationParams {
PreintegrationCombinedParams(gtsam::Vector n_gravity); PreintegrationCombinedParams(gtsam::Vector n_gravity);